CKD AX Series(TS・TH) EtherCAT・EtherNet/IP User manual

SMF-2012-A

Instruction Manual

ABSODEX

AX Series

TS type

TH type

EtherCAT specification

EtherNet/IP specification

 Read this instruction manual before starting

to use our product.

 In particular, read descriptions on safety

very carefully.

 Keep this manual at hand so that you can

read it when required.

Version 3

CKD Corporation

Contents

ABSODEX

AX Series [TS type, TH type EtherCAT specification, EtherNet/IP specification]

Instruction Manual No.SMF-2012

Introduction .............................................................................................................. 1

1. Specifications

1.1 Product Configuration .............................................................................. 1-1

1.2 General Specifications of Driver .............................................................. 1-2

1.3 Performance Specifications of Driver....................................................... 1-4

2. Wiring

2.1 Panel Description ..................................................................................... 2-1

2.1.1 EtherCAT Specification .................................................................. 2-1

2.1.2 EtherNet/IP Specification ............................................................... 2-2

2.2 Communication Connector....................................................................... 2-3

2.2.1 EtherCAT Specification .................................................................. 2-3

2.2.2 EtherNet/IP Specification ............................................................... 2-5

2.3 IO interface ............................................................................................... 2-7

2.3.1 Wiring of Emergency Stop Input (TB3) .......................................... 2-7

3. Communication Function

3.1 Communication Specifications ................................................................. 3-1

3.1.1 EtherCAT Communication Specifications ...................................... 3-1

3.1.2 EtherNet/IP Communication Specifications ................................... 3-1

3.2 Input/Output .............................................................................................. 3-2

3.2.1 PDO Mapping ................................................................................. 3-2

3.2.2 Input/Output Signals ....................................................................... 3-5

3.3 Monitor Code/Command Code ................................................................ 3-8

3.4 Data Communication Timing Chart .......................................................... 3-13

3.4.1 Monitor Code .................................................................................. 3-13

3.4.2 Command Code ............................................................................. 3-15

3.4.3 Response Code .............................................................................. 3-16

3.5 Defining the Register .............................................................................. 3-17

3.5.1 EtherCAT Specifications ................................................................. 3-17

3.5.2 EtherNet/IP Specifications .............................................................. 3-19

3.6 Monitoring the Communication Status ..................................................... 3-21

3.7 LED Indications ........................................................................................ 3-22

3.7.1 EtherCAT Specifications ................................................................. 3-22

3.7.2 EtherNet/IP Specifications .............................................................. 3-23

3.8 7-Segment LED Indication ....................................................................... 3-24

4. Network Operation Mode

4.1 Point Table Operation ............................................................................... 4-1

4.1.1 Operating Procedures .................................................................... 4-1

4.1.2 Point Table Data ............................................................................. 4-2

4.1.3 Examples of Point Table Settings ................................................... 4-5

4.2 Data Input Operation ................................................................................ 4-8

4.2.1 Operating Procedures .................................................................... 4-8

4.2.2 Input Data ....................................................................................... 4-9

4.2.3 Examples of Input Data Settings .................................................... 4-11

Prepared on December 8, 2016

Revised on May 1, 2018

--- MEMO ---

Introduction

[SMF-2012]

- 1 -

Introduction

Thank you for choosing our ABSODEX.

ABSODEX is a direct-drive index unit developed to drive intermittently operated turntables or the likes of

general industrial assembling machines, inspection machines, etc. flexibly at a superior precision.

This instruction manual is exclusive for ABSODEX AX Series TS type driver and TH type driver with

EtherCAT specification and EtherNet/IP specification.

This manual is not applicable for other types.

For the operation method, precautions on operation, maintenance and inspection items and so on, refer

to “Instruction Manual for AX Series TS type, TH type, and XS type” (SMF-2006) contained in the

attached CD-ROM.

Items, specifications and appearance specified in this instruction manual are subject to change without

prior notice.

EtherCAT® is the patented technology and registered trademark licensed by German Beckhoff

Automation GmbH.

EtherNet/IP™ is the trademark of ODVA.

Company names and trade names in this manual are the registered trademarks or trademarks of each

company.

1. Specifications

[SMF-2012]

- 1 - 1 -

1. Specifications

1.1. Product Configuration

Name

Quantity

1

Driver unit

1

2 Accessories

CN5 motor power connector:

PC4/3-ST-7.62(Phoenix Contact)

1

CN4 power supply connector:

PC4/5-ST-7.62(Phoenix Contact)

1

1. Specifications

[SMF-2012]

- 1 - 2 -

1.2. General Specifications of Driver

Item Description

1. Power

Main TS

1-Phase or 3-Phase 200 VAC ± 10% to 230 VAC ± 10% *1)

1-Phase 100 VAC ± 10% to 115 VAC ± 10%

*2)

(option:J1)

TH

1-Phase or 3-Phase 200 VAC ± 10% to 230 VAC ± 10%

*1)

Control TS

1-Phase 200 VAC ± 10% to 230 VAC ± 10%

1-Phase 100 VAC ± 10% to 115 VAC ± 10% (option:J1)

TH

1-Phase 200 VAC ± 10% to 230 VAC ± 10%

2. Frequency 50 Hz /60 Hz

3. Rated input current TS

1.8 A

TH

5.0 A

4. Input: Number of phases 1-Phase or 3-Phase

*1)

5. Output voltage 0 VAC to 230 VAC

6. Output frequency 0 Hz to 50 Hz

7. Rated output current TS

1.9 A

TH

5.0 A

8. Output: Number of phases 3-Phase

9. Power system TN, TT, IT

10. Mass TS

About 1.6 kg

TH

About 2.1 kg

11. External dimension TS

W75*H220*D160

TH

W95*H220*D160

12. Configuration Open modular type (Driver and controller)

13. Operation Ambient

Temperature

0°C to 50°C

14. Operating Ambient

Humidity

20% to 90%RH, No condensation allowed

15. Storage Ambient

Temperature

-20°C to 65°C

16. Storage Ambient

Humidity

20% to 90%RH, No condensation allowed

17. Atmosphere Free from corrosive gases and dust

18. Anti-noise 1000 V(P-P), pulse width 11μ sec, startup 1n sec

19. Anti-vibration 4.9 m/s

2

20. Altitude 1,000 m max.

21. Protection IP2X (Except for CN4 and CN5)

1. Specifications

[SMF-2012]

- 1 - 3 -

*1) The single phase 100 VAC can be used only for the models with the maximum torque of 45 N•m

or less.

If the single phase 200 VAC is used for the models with the maximum torque of 75 N•m or more,

the torque limit field needs to be calculated differently from other models. Make inquiries

regarding the judgment of usability.

*2) The main power and control power shall be supplied from the same power supply. Do not

supply power with different voltage or phase; otherwise, malfunction or damages might occur.

Use the single phase 100 VAC to 115 VAC for the control power.

If the single phase 200 VAC to 230 VAC is connected by mistake, the driver internal circuit would

be damaged.

1. Specifications

[SMF-2012]

- 1 - 4 -

1.3. Performance Specifications of Driver

Item Description

Number of Controlled

Axes 1 axis, 540,672 pulses/rotation

Angle Setting Unit

°(degrees), pulse, and number of indexes

Angle Setting Minimum

Unit 0.001°, 1 pulse (= about 2.4 seconds [0.00067 degrees])

Speed Setting Unit Sec, rpm

Speed Setting Range

0.01 sec to 100 sec/0.11 rpm to 300 rpm

Number of Divisions 1 to 255

Maximum Instruction

Value 7 digit input ±9,999,999

Timer 0.01 sec to 99.99 sec

Programming

Language NC language

Programming Method Data setting through RS-232C port using PC, etc.

Operation Mode Auto, single block, MID, jog, servo OFF, pulse string input,

network operation mode

Coordinate Absolute and incremental

Acceleration Curve

Modified sine (MS), Modified constant velocity (MC, MC2)

Modified trapezoid (MT), Trapecloid (TR)

Status Display

LED power lamp display

Motion Display

7-segment LED (2 digits)

Communication

Interface Meets RS-232C specification

EtherCAT

Communication

Function

EtherNet/IP

Communication

Function

<Input>

Origin return command, reset, start, stop, continuous rotation

stop, emergency stop, answer, position deviation counter reset,

program number selection, jog, brake off, servo ON, program

number setting, ready return

Alarm 1 and 2, positioning completion, in-position, start input

wait, M code 8 points, indexing-in-progress output 1 and 2,

origin position output, M code strobe, segment position strobe,

servo state, ready state output

Program Capacity

About 6,000 characters (256 pcs)

64 points

Electronic Thermal Protects the actuator from being overheated

2. Wiring

[SMF-2012]

- 2 - 1 -

2. Wiring

2.1. Panel Description

2.1.1. EtherCAT Specification

Figure 2.1. Driver panel of TS type and TH type with EtherCAT specification

Note *1: The serial No. on the nameplate is different from that read by EtherCAT master.

*1

Motion display 7-segment

LED (2 digits)

Gin 1 adjustment DIP switch

(convergence time)

Gain 2 adjustment DIP

switch (load)

CN1 RS-232C connector

CN2 resolver cable connector

TB1 safety function terminal

Transmission

monitor LED

CN3 EtherCAT connector

TB3 emergency

stop terminal

TB2 brake terminal

CN5 actuator output terminal

CN4 control power

CN4 main power

Main power LED

Control power LED

Nameplate

Ground terminal (2 × M4)

2. Wiring

[SMF-2012]

- 2 - 2 -

2.1.2. EtherNet/IP Specification

Figure 2.2. Driver panel of TS type and TH type with EtherNet/IP specification

Control power LED

Main power LED

CN4 main power

CN4 control power

CN5 actuator output terminal

Nameplate

Ground terminal (2 × M4)

Motion display 7-segment

LED (2 digits)

Gin 1 adjustment DIP

switch (convergence time)

Gain 2 adjustment DIP

switch (load)

CN1 RS-232C connector

CN2 resolver cable connector

TB1 safety function terminal

Transmission monitor LED

TB3 emergency stop terminal

TB2 brake terminal

CN3 EtherNet/IP connector

2. Wiring

[SMF-2012]

- 2 - 3 -

2.2. Communication Connector

2.2.1. EtherCAT Specification

The pin layout of EtherCAT communication connector (CN3) is shown below.

Figure 2.3. Pin layout of communication connector

Table 2.1. Pin layout of CN3

Connector Pin

Signal

name

Function Description

1 TD+

Transmission data

plus

Connect TD+ line.

2 TD-

Transmission data

minus

Connect TD- line.

3

RD+

Receive data plus

Connect RD+ line.

IN/

4

-

Not used

-

OUT

5

-

Not used

-

6

RD-

Receive data minus

Connect RD- line.

7

-

Not used

-

8

-

Not used

-

 We recommend the use of cables and connectors complying with EtherCAT specifications.

PNET/B Ethernet cable for industrial use with shield (Double shield) manufactured by

JMACS

3R104-1110-000 AM RJ45 modular plug for industrial use manufactured by 3M

1

8

Up

1

8

I

N

O

U

T

2. Wiring

[SMF-2012]

- 2 - 4 -

For details of the laying of the communication cable, refer to EtherCAT Laying Guideline, etc.

CAUTION

 Be sure to use special cables complying with EtherCAT specifications.

 Remove the connector vertically to avoid excessive force from being applied to the

connector.

 Do not bend the communication cable forcibly. Assure a sufficient bending radius.

 Reserve a sufficient distance between the communication cable and power cable (motor

cable).

 If the communication cable is routed near the power cable or if they are tied, noise will enter

to make communication unstable, possibly causing communication errors.

2. Wiring

[SMF-2012]

- 2 - 5 -

2.2.2. EtherNet/IP Specification

The pin layout of EtherNet/IP communication connector (CN3) is shown below.

Figure 2.4. Pin layout of communication connector

Table 2.2. Pin layout of CN3

Signal

name

Function Description

1

TD+

Transmission data

plus

Connect TD+ line.

2

TD-

Transmission data

minus

Connect TD- line.

3

RD+

Receive data plus

Connect RD+ line.

4

-

Not used

-

5

-

Not used

-

6

RD-

Receive data minus

Connect RD- line.

7

-

Not used

-

8

-

Not used

-

 We recommend the use of cables and connectors complying with EtherNet/IP specifications.

PNET/B Ethernet cable for industrial use with shield (Double shield) manufactured by

JMACS

3R104-1110-000 AM RJ45 modular plug for industrial use manufactured by 3M

Up

1

8

2. Wiring

[SMF-2012]

- 2 - 6 -

For details of the laying of the communication cable, refer to EtherNet/IP Laying Guideline, etc.

CAUTION

 Be sure to use special cables complying with EtherNet/IP specifications.

 Remove the connector vertically to avoid excessive force from being applied to the

connector.

 Do not bend the communication cable forcibly. Assure a sufficient bending radius.

 Reserve a sufficient distance between the communication cable and power cable (motor

cable).

 If the communication cable is routed near the power cable or if they are tied, noise will enter

to make communication unstable, possibly causing communication errors.

2. Wiring

[SMF-2012]

- 2 - 7 -

2.3. IO Interface

Connect “emergency stop input (TB3)” in the following way.

2.3.1. Wiring of Emergency Stop Input (TB3)

Rated voltage 24V ±10%, rated current within 5 mA

Figure 2.5. Example of connection of emergency stop input (TB3)

 The emergency stop input will be effective as default setting. Refer to “Instruction manual

AX Series TS type, TH type, and XS type” (SMF-2006) for emergency stop setting.

 Emergency stop is a “b” contact input. Thus, it will take effect when emergency stop input

(TB3) becomes open.

Emergency stop using serial communication will be effective when the input data is OFF.

Figure 2.6. Specification of emergency stop input

 Emergency stop can be inputted by TB3's input terminal or CN3's serial communications and

if one of the inputs becomes open (or off), it will be recognized as emergency stop.

Consequently, input to TB3 is necessary to release the emergency stop.

Figure 2.7. Applicable cables to TB3 and peeling method

 The cable sheath peeling length should be 8 mm or 9 mm.

 The applicable cable is AWG20 to 24 (single cable) or AWG20 to 22 (stranded cable).

EMG+

EMG-

+24V

※外部供給電源の極性を

　　反転しても接続可能です。

※

External power

supply 24 VDC

(Prepared by

customer)

AWG20-24 (Single cable)

AWG20

-22(Stranded cable)

8 mm to 9 mm

* The polarity of the external power supply

can be inverse.

Serial

communication

processing

Emergency stop input

(serial)

Input processing:

Emergency stops if

either input becomes

open (or off).

Emergency stop

processing

2. Wiring

[SMF-2012]

- 2 - 8 -

--- MEMO ---

3. Communication Function

[SMF-2012]

- 3 - 1 -

3. Communication Function

3.1. Communication Specifications

3.1.1. EtherCAT Communication Specifications

Table 3.1. Communication specifications

Item

Specifications

Communication protocol

EtherCAT

Communication speed

100 Mbps

(Fast EtherNet, full duplex)

Process data

Fixed PDO mapping

Maximum PDO data length

RxPDO: 40 byte

TxPDO: 40 byte

Station alias

0 to 65535 (set using parameters)

Connection cable

Cable compatible with EtherCAT

(CAT5e or higher twisted-pair cable (aluminum foil

braided double shielded) recommended)

Node address

Automatically allocated by master

3.1.2. EtherNet/IP Communication Specifications

Table 3.2. Communication specifications

Item

Specifications

Communication protocol

EtherNet/IP

Communication speed

Automatic setting

(100 Mbps/10 Mbps, full duplex/half duplex)

Number of bytes occupied

Input: 32 bytes/Output: 32 bytes

IP address

0.0.0.0 to 255.255.255.255 (set using parameters)

Subnet mask

0.0.0.0 to 255.255.255.255 (set using parameters)

Default gateway

0.0.0.0 to 255.255.255.255 (set using parameters)

RPI

(Packet interval) 10msec to 1000msec

Connection cable

Cable compatible with EtherNet/IP

(CAT5 or higher twisted-pair cable

(aluminum foil braided double shielded)

recommended)

If it is connected with PLC, the EDS file of Absodex must be registered to the setting software on the

PLC side.

Please use the EDS file in the attached CD-ROM.

3. EtherCAT Communication Function

[SMF-2012]

- 3 - 2 -

3.2. Input/Output

3.2.1. EtherCAT Specifications

i) PDO Mapping

Table 3.3. RxPDO

Index

Sub Index

Name

Content

0x1600

0x00

Number of PDO objects

10

0x01

Input signal 1

0x2001-0x01

0x02

Input signal 2

0x2001-0x02

0x03

Input data 1

0x2003-0x01

0x04

Input data 2

0x2003-0x02

0x05

Input data 3

0x2003-0x03

0x06

Input data 4

0x2003-0x04

0x07

Input data 5

0x2003-0x05

0x08

Input command 1

0x2003-0x06

0x09

Input command 2

0x2003-0x07

0x0A

Input command 3

0x2003-0x08

Table 3.4. TxPDO

Index

Sub Index

Name

Content

0x1A00

0x00

Number of PDO objects

10

0x01

Output signal 1

0x2005-0x01

0x02

Output signal 2

0x2005-0x02

0x03

Output data 1

0x2007-0x01

0x04

Output data 2

0x2007-0x02

0x05

Output data 3

0x2007-0x03

0x06

Output data 4

0x2007-0x04

0x07

Output data 5

0x2007-0x05

0x08

Output command 1

0x2007-0x06

0x09

Output command 2

0x2007-0x07

0x0A

Output command 3

0x2007-0x08

3. Communication Function

[SMF-2012]

- 3 - 3 -

ii) Input/Output Signals

Table 3.5. List of Input Signals (EtherCAT Specifications)

PLC → AX(Input)

Index

Sub

Index

Name Bit Signal name Logic Judgment

0x2001

0x01 Input signal 1

0 Program number selection input (bit 0) True Level

1 Program number selection input (bit 1) True Level

2 Program number selection input (bit 2) True Level

3

Program number selection input (bit 3) True Level

4

Program number setting input, second digit/:

Program number selection input (bit 4)

True Level/Edge

5

Program number setting input, first digit/

Program number selection input (bit 5)

True Level/Edge

6 Reset input True Edge

7 Origin return command input True Edge

8 Start input True Edge

9

Servo-on input/

Program stop input

True Level/Edge

10

Ready return input/

Continuous rotation stop input

True Edge

11

Answer input/

Position deviation counter reset

True Edge

12 Emergency stop input False Level

13 Brake off input True Level

14 Jog operation input (CW direction)*1 True Level

15 Jog operation input (CCW direction)*1 True Level

16 Reserved*2/

Travel unit selection input (bit 0)*3 True Level

17 Reserved

*2

/

Travel unit selection input (bit 1)*3 True Level

18 Reserved

*2

/

Travel speed unit selection input*3 True Level

19

Table operation, data input operation

Switching input

True Level

20

to

31

Reserved

0x02 Input signal 2

0 Monitor output execution request True Level

1 Command code execution request True Edge

2

to

31

Reserved

0x2003

0x01 Input data 1 - Monitor code 1

0x02 Input data 2

-

Monitor code 2

0x03 Input data 3

-

Monitor code 3

0x04 Input data 4

-

Monitor code 4

0x05 Input data 5

-

Monitor code 5

0x06 Input command 1

-

Command code

0x07 Input command 2 -

Written data *2

/A code or P code

*3

0x08 Input command 3 -

Data designation *2

/F code

*3

Note *1: Only the network operation mode can be used.

*2: Selected when table operation is (Input signal 1 – bit 19 = OFF)

*3: Selected when data input operation is (Input signal 1 – bit 19 = ON)

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CKD AX Series(TS・TH) EtherCAT・EtherNet/IP User manual

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